update
This commit is contained in:
databall-official
parent
b07527e208
commit
f7845219e7
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@ -1 +1 @@
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/opt/ros/humble
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/workspace/install/ros_viz_adapter:/workspace/install/bcr_bot:/opt/ros/humble
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@ -25,7 +25,7 @@ def generate_launch_description():
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position_y = LaunchConfiguration("position_y")
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orientation_yaw = LaunchConfiguration("orientation_yaw")
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camera_enabled = LaunchConfiguration("camera_enabled", default=True)
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stereo_camera_enabled = LaunchConfiguration("stereo_camera_enabled", default=False)
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stereo_camera_enabled = LaunchConfiguration("stereo_camera_enabled", default=True)
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two_d_lidar_enabled = LaunchConfiguration("two_d_lidar_enabled", default=True)
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odometry_source = LaunchConfiguration("odometry_source", default="world")
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robot_namespace = LaunchConfiguration("robot_namespace", default='bcr_bot')
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@ -23,7 +23,7 @@ def generate_launch_description():
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position_y = LaunchConfiguration("position_y")
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orientation_yaw = LaunchConfiguration("orientation_yaw")
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camera_enabled = LaunchConfiguration("camera_enabled", default=True)
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stereo_camera_enabled = LaunchConfiguration("stereo_camera_enabled", default=False)
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stereo_camera_enabled = LaunchConfiguration("stereo_camera_enabled", default=True)
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two_d_lidar_enabled = LaunchConfiguration("two_d_lidar_enabled", default=True)
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odometry_source = LaunchConfiguration("odometry_source")
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@ -126,4 +126,4 @@ def generate_launch_description():
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DeclareLaunchArgument("odometry_source", default_value="world"),
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robot_state_publisher,
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gz_spawn_entity, transform_publisher, gz_ros2_bridge
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])
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])
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@ -23,7 +23,7 @@ def generate_launch_description():
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position_y = LaunchConfiguration("position_y")
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orientation_yaw = LaunchConfiguration("orientation_yaw")
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camera_enabled = LaunchConfiguration("camera_enabled", default=True)
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stereo_camera_enabled = LaunchConfiguration("stereo_camera_enabled", default=False)
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stereo_camera_enabled = LaunchConfiguration("stereo_camera_enabled", default=True)
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two_d_lidar_enabled = LaunchConfiguration("two_d_lidar_enabled", default=True)
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odometry_source = LaunchConfiguration("odometry_source")
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@ -38,7 +38,7 @@
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<xacro:arg name="robot_namespace" default=""/>
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<xacro:arg name="wheel_odom_topic" default="odom" />
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<xacro:arg name="camera_enabled" default="false" />
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<xacro:arg name="stereo_camera_enabled" default="false" />
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<xacro:arg name="stereo_camera_enabled" default="true" />
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<xacro:arg name="two_d_lidar_enabled" default="false" />
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<xacro:arg name="publish_wheel_odom_tf" default="true" />
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<xacro:arg name="conveyor_enabled" default="false"/>
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Binary file not shown.
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@ -0,0 +1 @@
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rclcpp;sensor_msgs;image_transport;pluginlib;compressed_image_transport;compressed_depth_image_transport
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@ -0,0 +1 @@
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/workspace/install/ros_viz_adapter:/workspace/install/bcr_bot:/opt/ros/humble
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@ -0,0 +1 @@
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compressed_depth_image_transport:compressed_image_transport:image_transport:pluginlib:rclcpp:sensor_msgs
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@ -0,0 +1,93 @@
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# ros_viz_adapter
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通用 ROS 2 可视化发布适配器，不需要用户修改原始话题名称，也不需要
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YAML 配置文件。节点自动发现 `sensor_msgs/msg/Image` 和
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`sensor_msgs/msg/PointCloud2`，并把结果发布到 `/viz` 命名空间。
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## 输出
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- RGB：直接加载 `image_transport/compressed_pub`，插件发布
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`/viz/<source>/rgb/compressed`，不创建 raw base topic。
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- 深度：直接加载 `image_transport/compressedDepth_pub`，插件发布
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`/viz/<source>/depth/compressedDepth`，不创建 raw base topic。
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- 点云：`/viz/<source>/points`，消息仍为 `sensor_msgs/msg/PointCloud2`，但只保留
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`x/y/z`，去除 NaN，执行体素降采样、最大点数限制和限频。
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图像依据 `encoding` 分类：`rgb8/bgr8/rgba8/bgra8/mono8` 为 RGB，
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`16UC1/32FC1/mono16/32SC1` 为深度。RGB、深度、点云各使用一个独立处理线程；
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不存在对应数据类型时，不创建该线程。
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## 运行
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```bash
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colcon build --packages-select ros_viz_adapter --symlink-install
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ros2 launch ros_viz_adapter adapter.launch.py
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```
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参数：
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```text
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output_namespace 默认 /viz
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input_fps_limit 默认 30，回调入口丢弃超频帧
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output_fps 默认 10，处理线程输出上限
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jpeg_quality 默认 80，范围 1-100
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voxel_size_m 默认 0.05
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max_points 默认 100000
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```
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QoS 为 `BEST_EFFORT + KEEP_LAST + depth=1`。限频降低的是适配器处理、网络和
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平台负载；如果还要降低源容器 CPU，应同时调整相机/上游发布频率。
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## 在其他项目中接入
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### 同一个 colcon 工作空间
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把本包目录放到项目工作空间的 `src/` 下，然后正常构建：
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```bash
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cd <workspace>
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colcon build --symlink-install
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source install/setup.bash
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ros2 launch ros_viz_adapter adapter.launch.py
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```
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不需要修改原始 RGB、深度或点云节点。适配器会在同一个 ROS domain 中发现传感器话题，
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并发布 `/viz/...`。
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### 在项目 launch 中启动
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也可以在项目自己的 launch 文件中包含适配器：
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```python
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from launch.actions import IncludeLaunchDescription
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch_ros.substitutions import FindPackageShare
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viz_adapter = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([
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FindPackageShare('ros_viz_adapter'), '/launch/adapter.launch.py'
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])
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)
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```
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将 `viz_adapter` 放入项目的 `LaunchDescription` 即可。也可以直接运行：
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```bash
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ros2 run ros_viz_adapter adapter
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```
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### 独立 ROS 容器或 sidecar
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适配器容器与用户容器必须使用相同的 `ROS_DOMAIN_ID`、`RMW_IMPLEMENTATION` 和可互相发现的
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ROS 2 网络。适配器容器只需安装本包、`compressed_image_transport` 和
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`compressed_depth_image_transport`，不需要复制用户项目代码。代码只加载上述两个
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指定插件，不遍历或加载 Theora 插件。
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### 多容器隔离
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为避免不同容器输出重名，可以指定不同 namespace：
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```bash
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ros2 launch ros_viz_adapter adapter.launch.py \
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output_namespace:=/viz/robot_01
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```
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@ -0,0 +1,14 @@
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# generated from ament/cmake/core/templates/nameConfig-version.cmake.in
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set(PACKAGE_VERSION "0.2.0")
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set(PACKAGE_VERSION_EXACT False)
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set(PACKAGE_VERSION_COMPATIBLE False)
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if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
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set(PACKAGE_VERSION_EXACT True)
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set(PACKAGE_VERSION_COMPATIBLE True)
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endif()
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if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
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set(PACKAGE_VERSION_COMPATIBLE True)
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endif()
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@ -0,0 +1,42 @@
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# generated from ament/cmake/core/templates/nameConfig.cmake.in
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# prevent multiple inclusion
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if(_ros_viz_adapter_CONFIG_INCLUDED)
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# ensure to keep the found flag the same
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if(NOT DEFINED ros_viz_adapter_FOUND)
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# explicitly set it to FALSE, otherwise CMake will set it to TRUE
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set(ros_viz_adapter_FOUND FALSE)
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elseif(NOT ros_viz_adapter_FOUND)
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# use separate condition to avoid uninitialized variable warning
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set(ros_viz_adapter_FOUND FALSE)
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endif()
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return()
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endif()
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set(_ros_viz_adapter_CONFIG_INCLUDED TRUE)
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# output package information
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if(NOT ros_viz_adapter_FIND_QUIETLY)
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message(STATUS "Found ros_viz_adapter: 0.2.0 (${ros_viz_adapter_DIR})")
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endif()
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||||
|
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# warn when using a deprecated package
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||||
if(NOT "" STREQUAL "")
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set(_msg "Package 'ros_viz_adapter' is deprecated")
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||||
# append custom deprecation text if available
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if(NOT "" STREQUAL "TRUE")
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set(_msg "${_msg} ()")
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endif()
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||||
# optionally quiet the deprecation message
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||||
if(NOT ${ros_viz_adapter_DEPRECATED_QUIET})
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message(DEPRECATION "${_msg}")
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endif()
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endif()
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||||
# flag package as ament-based to distinguish it after being find_package()-ed
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||||
set(ros_viz_adapter_FOUND_AMENT_PACKAGE TRUE)
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||||
|
||||
# include all config extra files
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||||
set(_extras "")
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||||
foreach(_extra ${_extras})
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||||
include("${ros_viz_adapter_DIR}/${_extra}")
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||||
endforeach()
|
||||
|
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@ -0,0 +1 @@
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|||
prepend-non-duplicate;AMENT_PREFIX_PATH;
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||||
|
|
@ -0,0 +1,4 @@
|
|||
# copied from
|
||||
# ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh
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||||
|
||||
ament_prepend_unique_value AMENT_PREFIX_PATH "$AMENT_CURRENT_PREFIX"
|
||||
|
|
@ -0,0 +1 @@
|
|||
prepend-non-duplicate-if-exists;PATH;bin
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||||
|
|
@ -0,0 +1,5 @@
|
|||
# copied from ament_cmake_core/cmake/environment_hooks/environment/path.sh
|
||||
|
||||
if [ -d "$AMENT_CURRENT_PREFIX/bin" ]; then
|
||||
ament_prepend_unique_value PATH "$AMENT_CURRENT_PREFIX/bin"
|
||||
fi
|
||||
|
|
@ -0,0 +1 @@
|
|||
prepend-non-duplicate;CMAKE_PREFIX_PATH;
|
||||
|
|
@ -0,0 +1,3 @@
|
|||
# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
|
||||
|
||||
colcon_prepend_unique_value CMAKE_PREFIX_PATH "$env:COLCON_CURRENT_PREFIX"
|
||||
|
|
@ -0,0 +1,3 @@
|
|||
# generated from colcon_core/shell/template/hook_prepend_value.sh.em
|
||||
|
||||
_colcon_prepend_unique_value CMAKE_PREFIX_PATH "$COLCON_CURRENT_PREFIX"
|
||||
|
|
@ -0,0 +1,17 @@
|
|||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument
|
||||
from launch.substitutions import LaunchConfiguration
|
||||
from launch_ros.actions import Node
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
return LaunchDescription([
|
||||
DeclareLaunchArgument('output_namespace', default_value='/viz'),
|
||||
Node(
|
||||
package='ros_viz_adapter', executable='adapter',
|
||||
name='ros_viz_adapter', output='screen',
|
||||
parameters=[{
|
||||
'output_namespace': LaunchConfiguration('output_namespace'),
|
||||
}],
|
||||
),
|
||||
])
|
||||
|
|
@ -0,0 +1,46 @@
|
|||
# generated from ament_package/template/package_level/local_setup.bash.in
|
||||
|
||||
# source local_setup.sh from same directory as this file
|
||||
_this_path=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" && pwd)
|
||||
# provide AMENT_CURRENT_PREFIX to shell script
|
||||
AMENT_CURRENT_PREFIX=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." && pwd)
|
||||
# store AMENT_CURRENT_PREFIX to restore it before each environment hook
|
||||
_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX
|
||||
|
||||
# trace output
|
||||
if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
|
||||
echo "# . \"$_this_path/local_setup.sh\""
|
||||
fi
|
||||
. "$_this_path/local_setup.sh"
|
||||
unset _this_path
|
||||
|
||||
# unset AMENT_ENVIRONMENT_HOOKS
|
||||
# if not appending to them for return
|
||||
if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
|
||||
unset AMENT_ENVIRONMENT_HOOKS
|
||||
fi
|
||||
|
||||
# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
|
||||
AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
|
||||
# list all environment hooks of this package
|
||||
|
||||
# source all shell-specific environment hooks of this package
|
||||
# if not returning them
|
||||
if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
|
||||
_package_local_setup_IFS=$IFS
|
||||
IFS=":"
|
||||
for _hook in $AMENT_ENVIRONMENT_HOOKS; do
|
||||
# restore AMENT_CURRENT_PREFIX for each environment hook
|
||||
AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
|
||||
# restore IFS before sourcing other files
|
||||
IFS=$_package_local_setup_IFS
|
||||
. "$_hook"
|
||||
done
|
||||
unset _hook
|
||||
IFS=$_package_local_setup_IFS
|
||||
unset _package_local_setup_IFS
|
||||
unset AMENT_ENVIRONMENT_HOOKS
|
||||
fi
|
||||
|
||||
unset _package_local_setup_AMENT_CURRENT_PREFIX
|
||||
unset AMENT_CURRENT_PREFIX
|
||||
|
|
@ -0,0 +1,2 @@
|
|||
source;share/ros_viz_adapter/environment/ament_prefix_path.sh
|
||||
source;share/ros_viz_adapter/environment/path.sh
|
||||
|
|
@ -0,0 +1,184 @@
|
|||
# generated from ament_package/template/package_level/local_setup.sh.in
|
||||
|
||||
# since this file is sourced use either the provided AMENT_CURRENT_PREFIX
|
||||
# or fall back to the destination set at configure time
|
||||
: ${AMENT_CURRENT_PREFIX:="/workspace/install/ros_viz_adapter"}
|
||||
if [ ! -d "$AMENT_CURRENT_PREFIX" ]; then
|
||||
if [ -z "$COLCON_CURRENT_PREFIX" ]; then
|
||||
echo "The compile time prefix path '$AMENT_CURRENT_PREFIX' doesn't " \
|
||||
"exist. Consider sourcing a different extension than '.sh'." 1>&2
|
||||
else
|
||||
AMENT_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
|
||||
fi
|
||||
fi
|
||||
|
||||
# function to append values to environment variables
|
||||
# using colons as separators and avoiding leading separators
|
||||
ament_append_value() {
|
||||
# arguments
|
||||
_listname="$1"
|
||||
_value="$2"
|
||||
#echo "listname $_listname"
|
||||
#eval echo "list value \$$_listname"
|
||||
#echo "value $_value"
|
||||
|
||||
# avoid leading separator
|
||||
eval _values=\"\$$_listname\"
|
||||
if [ -z "$_values" ]; then
|
||||
eval export $_listname=\"$_value\"
|
||||
#eval echo "set list \$$_listname"
|
||||
else
|
||||
# field separator must not be a colon
|
||||
_ament_append_value_IFS=$IFS
|
||||
unset IFS
|
||||
eval export $_listname=\"\$$_listname:$_value\"
|
||||
#eval echo "append list \$$_listname"
|
||||
IFS=$_ament_append_value_IFS
|
||||
unset _ament_append_value_IFS
|
||||
fi
|
||||
unset _values
|
||||
|
||||
unset _value
|
||||
unset _listname
|
||||
}
|
||||
|
||||
# function to append non-duplicate values to environment variables
|
||||
# using colons as separators and avoiding leading separators
|
||||
ament_append_unique_value() {
|
||||
# arguments
|
||||
_listname=$1
|
||||
_value=$2
|
||||
#echo "listname $_listname"
|
||||
#eval echo "list value \$$_listname"
|
||||
#echo "value $_value"
|
||||
|
||||
# check if the list contains the value
|
||||
eval _values=\$$_listname
|
||||
_duplicate=
|
||||
_ament_append_unique_value_IFS=$IFS
|
||||
IFS=":"
|
||||
if [ "$AMENT_SHELL" = "zsh" ]; then
|
||||
ament_zsh_to_array _values
|
||||
fi
|
||||
for _item in $_values; do
|
||||
# ignore empty strings
|
||||
if [ -z "$_item" ]; then
|
||||
continue
|
||||
fi
|
||||
if [ $_item = $_value ]; then
|
||||
_duplicate=1
|
||||
fi
|
||||
done
|
||||
unset _item
|
||||
|
||||
# append only non-duplicates
|
||||
if [ -z "$_duplicate" ]; then
|
||||
# avoid leading separator
|
||||
if [ -z "$_values" ]; then
|
||||
eval $_listname=\"$_value\"
|
||||
#eval echo "set list \$$_listname"
|
||||
else
|
||||
# field separator must not be a colon
|
||||
unset IFS
|
||||
eval $_listname=\"\$$_listname:$_value\"
|
||||
#eval echo "append list \$$_listname"
|
||||
fi
|
||||
fi
|
||||
IFS=$_ament_append_unique_value_IFS
|
||||
unset _ament_append_unique_value_IFS
|
||||
unset _duplicate
|
||||
unset _values
|
||||
|
||||
unset _value
|
||||
unset _listname
|
||||
}
|
||||
|
||||
# function to prepend non-duplicate values to environment variables
|
||||
# using colons as separators and avoiding trailing separators
|
||||
ament_prepend_unique_value() {
|
||||
# arguments
|
||||
_listname="$1"
|
||||
_value="$2"
|
||||
#echo "listname $_listname"
|
||||
#eval echo "list value \$$_listname"
|
||||
#echo "value $_value"
|
||||
|
||||
# check if the list contains the value
|
||||
eval _values=\"\$$_listname\"
|
||||
_duplicate=
|
||||
_ament_prepend_unique_value_IFS=$IFS
|
||||
IFS=":"
|
||||
if [ "$AMENT_SHELL" = "zsh" ]; then
|
||||
ament_zsh_to_array _values
|
||||
fi
|
||||
for _item in $_values; do
|
||||
# ignore empty strings
|
||||
if [ -z "$_item" ]; then
|
||||
continue
|
||||
fi
|
||||
if [ "$_item" = "$_value" ]; then
|
||||
_duplicate=1
|
||||
fi
|
||||
done
|
||||
unset _item
|
||||
|
||||
# prepend only non-duplicates
|
||||
if [ -z "$_duplicate" ]; then
|
||||
# avoid trailing separator
|
||||
if [ -z "$_values" ]; then
|
||||
eval export $_listname=\"$_value\"
|
||||
#eval echo "set list \$$_listname"
|
||||
else
|
||||
# field separator must not be a colon
|
||||
unset IFS
|
||||
eval export $_listname=\"$_value:\$$_listname\"
|
||||
#eval echo "prepend list \$$_listname"
|
||||
fi
|
||||
fi
|
||||
IFS=$_ament_prepend_unique_value_IFS
|
||||
unset _ament_prepend_unique_value_IFS
|
||||
unset _duplicate
|
||||
unset _values
|
||||
|
||||
unset _value
|
||||
unset _listname
|
||||
}
|
||||
|
||||
# unset AMENT_ENVIRONMENT_HOOKS
|
||||
# if not appending to them for return
|
||||
if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
|
||||
unset AMENT_ENVIRONMENT_HOOKS
|
||||
fi
|
||||
|
||||
# list all environment hooks of this package
|
||||
ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/ros_viz_adapter/environment/ament_prefix_path.sh"
|
||||
ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/ros_viz_adapter/environment/path.sh"
|
||||
|
||||
# source all shell-specific environment hooks of this package
|
||||
# if not returning them
|
||||
if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
|
||||
_package_local_setup_IFS=$IFS
|
||||
IFS=":"
|
||||
if [ "$AMENT_SHELL" = "zsh" ]; then
|
||||
ament_zsh_to_array AMENT_ENVIRONMENT_HOOKS
|
||||
fi
|
||||
for _hook in $AMENT_ENVIRONMENT_HOOKS; do
|
||||
if [ -f "$_hook" ]; then
|
||||
# restore IFS before sourcing other files
|
||||
IFS=$_package_local_setup_IFS
|
||||
# trace output
|
||||
if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
|
||||
echo "# . \"$_hook\""
|
||||
fi
|
||||
. "$_hook"
|
||||
fi
|
||||
done
|
||||
unset _hook
|
||||
IFS=$_package_local_setup_IFS
|
||||
unset _package_local_setup_IFS
|
||||
unset AMENT_ENVIRONMENT_HOOKS
|
||||
fi
|
||||
|
||||
# reset AMENT_CURRENT_PREFIX after each package
|
||||
# allowing to source multiple package-level setup files
|
||||
unset AMENT_CURRENT_PREFIX
|
||||
|
|
@ -0,0 +1,59 @@
|
|||
# generated from ament_package/template/package_level/local_setup.zsh.in
|
||||
|
||||
AMENT_SHELL=zsh
|
||||
|
||||
# source local_setup.sh from same directory as this file
|
||||
_this_path=$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)
|
||||
# provide AMENT_CURRENT_PREFIX to shell script
|
||||
AMENT_CURRENT_PREFIX=$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)
|
||||
# store AMENT_CURRENT_PREFIX to restore it before each environment hook
|
||||
_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX
|
||||
|
||||
# function to convert array-like strings into arrays
|
||||
# to wordaround SH_WORD_SPLIT not being set
|
||||
ament_zsh_to_array() {
|
||||
local _listname=$1
|
||||
local _dollar="$"
|
||||
local _split="{="
|
||||
local _to_array="(\"$_dollar$_split$_listname}\")"
|
||||
eval $_listname=$_to_array
|
||||
}
|
||||
|
||||
# trace output
|
||||
if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
|
||||
echo "# . \"$_this_path/local_setup.sh\""
|
||||
fi
|
||||
# the package-level local_setup file unsets AMENT_CURRENT_PREFIX
|
||||
. "$_this_path/local_setup.sh"
|
||||
unset _this_path
|
||||
|
||||
# unset AMENT_ENVIRONMENT_HOOKS
|
||||
# if not appending to them for return
|
||||
if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
|
||||
unset AMENT_ENVIRONMENT_HOOKS
|
||||
fi
|
||||
|
||||
# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
|
||||
AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
|
||||
# list all environment hooks of this package
|
||||
|
||||
# source all shell-specific environment hooks of this package
|
||||
# if not returning them
|
||||
if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
|
||||
_package_local_setup_IFS=$IFS
|
||||
IFS=":"
|
||||
for _hook in $AMENT_ENVIRONMENT_HOOKS; do
|
||||
# restore AMENT_CURRENT_PREFIX for each environment hook
|
||||
AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
|
||||
# restore IFS before sourcing other files
|
||||
IFS=$_package_local_setup_IFS
|
||||
. "$_hook"
|
||||
done
|
||||
unset _hook
|
||||
IFS=$_package_local_setup_IFS
|
||||
unset _package_local_setup_IFS
|
||||
unset AMENT_ENVIRONMENT_HOOKS
|
||||
fi
|
||||
|
||||
unset _package_local_setup_AMENT_CURRENT_PREFIX
|
||||
unset AMENT_CURRENT_PREFIX
|
||||
|
|
@ -0,0 +1,39 @@
|
|||
# generated from colcon_bash/shell/template/package.bash.em
|
||||
|
||||
# This script extends the environment for this package.
|
||||
|
||||
# a bash script is able to determine its own path if necessary
|
||||
if [ -z "$COLCON_CURRENT_PREFIX" ]; then
|
||||
# the prefix is two levels up from the package specific share directory
|
||||
_colcon_package_bash_COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." > /dev/null && pwd)"
|
||||
else
|
||||
_colcon_package_bash_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
|
||||
fi
|
||||
|
||||
# function to source another script with conditional trace output
|
||||
# first argument: the path of the script
|
||||
# additional arguments: arguments to the script
|
||||
_colcon_package_bash_source_script() {
|
||||
if [ -f "$1" ]; then
|
||||
if [ -n "$COLCON_TRACE" ]; then
|
||||
echo "# . \"$1\""
|
||||
fi
|
||||
. "$@"
|
||||
else
|
||||
echo "not found: \"$1\"" 1>&2
|
||||
fi
|
||||
}
|
||||
|
||||
# source sh script of this package
|
||||
_colcon_package_bash_source_script "$_colcon_package_bash_COLCON_CURRENT_PREFIX/share/ros_viz_adapter/package.sh"
|
||||
|
||||
# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced scripts
|
||||
COLCON_CURRENT_PREFIX="$_colcon_package_bash_COLCON_CURRENT_PREFIX"
|
||||
|
||||
# source bash hooks
|
||||
_colcon_package_bash_source_script "$COLCON_CURRENT_PREFIX/share/ros_viz_adapter/local_setup.bash"
|
||||
|
||||
unset COLCON_CURRENT_PREFIX
|
||||
|
||||
unset _colcon_package_bash_source_script
|
||||
unset _colcon_package_bash_COLCON_CURRENT_PREFIX
|
||||
|
|
@ -0,0 +1,8 @@
|
|||
source;share/ros_viz_adapter/hook/cmake_prefix_path.ps1
|
||||
source;share/ros_viz_adapter/hook/cmake_prefix_path.dsv
|
||||
source;share/ros_viz_adapter/hook/cmake_prefix_path.sh
|
||||
source;share/ros_viz_adapter/local_setup.bash
|
||||
source;share/ros_viz_adapter/local_setup.dsv
|
||||
source;share/ros_viz_adapter/local_setup.ps1
|
||||
source;share/ros_viz_adapter/local_setup.sh
|
||||
source;share/ros_viz_adapter/local_setup.zsh
|
||||
|
|
@ -0,0 +1,116 @@
|
|||
# generated from colcon_powershell/shell/template/package.ps1.em
|
||||
|
||||
# function to append a value to a variable
|
||||
# which uses colons as separators
|
||||
# duplicates as well as leading separators are avoided
|
||||
# first argument: the name of the result variable
|
||||
# second argument: the value to be prepended
|
||||
function colcon_append_unique_value {
|
||||
param (
|
||||
$_listname,
|
||||
$_value
|
||||
)
|
||||
|
||||
# get values from variable
|
||||
if (Test-Path Env:$_listname) {
|
||||
$_values=(Get-Item env:$_listname).Value
|
||||
} else {
|
||||
$_values=""
|
||||
}
|
||||
$_duplicate=""
|
||||
# start with no values
|
||||
$_all_values=""
|
||||
# iterate over existing values in the variable
|
||||
if ($_values) {
|
||||
$_values.Split(":") | ForEach {
|
||||
# not an empty string
|
||||
if ($_) {
|
||||
# not a duplicate of _value
|
||||
if ($_ -eq $_value) {
|
||||
$_duplicate="1"
|
||||
}
|
||||
if ($_all_values) {
|
||||
$_all_values="${_all_values}:$_"
|
||||
} else {
|
||||
$_all_values="$_"
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
# append only non-duplicates
|
||||
if (!$_duplicate) {
|
||||
# avoid leading separator
|
||||
if ($_all_values) {
|
||||
$_all_values="${_all_values}:${_value}"
|
||||
} else {
|
||||
$_all_values="${_value}"
|
||||
}
|
||||
}
|
||||
|
||||
# export the updated variable
|
||||
Set-Item env:\$_listname -Value "$_all_values"
|
||||
}
|
||||
|
||||
# function to prepend a value to a variable
|
||||
# which uses colons as separators
|
||||
# duplicates as well as trailing separators are avoided
|
||||
# first argument: the name of the result variable
|
||||
# second argument: the value to be prepended
|
||||
function colcon_prepend_unique_value {
|
||||
param (
|
||||
$_listname,
|
||||
$_value
|
||||
)
|
||||
|
||||
# get values from variable
|
||||
if (Test-Path Env:$_listname) {
|
||||
$_values=(Get-Item env:$_listname).Value
|
||||
} else {
|
||||
$_values=""
|
||||
}
|
||||
# start with the new value
|
||||
$_all_values="$_value"
|
||||
# iterate over existing values in the variable
|
||||
if ($_values) {
|
||||
$_values.Split(":") | ForEach {
|
||||
# not an empty string
|
||||
if ($_) {
|
||||
# not a duplicate of _value
|
||||
if ($_ -ne $_value) {
|
||||
# keep non-duplicate values
|
||||
$_all_values="${_all_values}:$_"
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
# export the updated variable
|
||||
Set-Item env:\$_listname -Value "$_all_values"
|
||||
}
|
||||
|
||||
# function to source another script with conditional trace output
|
||||
# first argument: the path of the script
|
||||
# additional arguments: arguments to the script
|
||||
function colcon_package_source_powershell_script {
|
||||
param (
|
||||
$_colcon_package_source_powershell_script
|
||||
)
|
||||
# source script with conditional trace output
|
||||
if (Test-Path $_colcon_package_source_powershell_script) {
|
||||
if ($env:COLCON_TRACE) {
|
||||
echo ". '$_colcon_package_source_powershell_script'"
|
||||
}
|
||||
. "$_colcon_package_source_powershell_script"
|
||||
} else {
|
||||
Write-Error "not found: '$_colcon_package_source_powershell_script'"
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
# a powershell script is able to determine its own path
|
||||
# the prefix is two levels up from the package specific share directory
|
||||
$env:COLCON_CURRENT_PREFIX=(Get-Item $PSCommandPath).Directory.Parent.Parent.FullName
|
||||
|
||||
colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX/share/ros_viz_adapter/hook/cmake_prefix_path.ps1"
|
||||
colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX/share/ros_viz_adapter/local_setup.ps1"
|
||||
|
||||
Remove-Item Env:\COLCON_CURRENT_PREFIX
|
||||
|
|
@ -0,0 +1,87 @@
|
|||
# generated from colcon_core/shell/template/package.sh.em
|
||||
|
||||
# This script extends the environment for this package.
|
||||
|
||||
# function to prepend a value to a variable
|
||||
# which uses colons as separators
|
||||
# duplicates as well as trailing separators are avoided
|
||||
# first argument: the name of the result variable
|
||||
# second argument: the value to be prepended
|
||||
_colcon_prepend_unique_value() {
|
||||
# arguments
|
||||
_listname="$1"
|
||||
_value="$2"
|
||||
|
||||
# get values from variable
|
||||
eval _values=\"\$$_listname\"
|
||||
# backup the field separator
|
||||
_colcon_prepend_unique_value_IFS=$IFS
|
||||
IFS=":"
|
||||
# start with the new value
|
||||
_all_values="$_value"
|
||||
# workaround SH_WORD_SPLIT not being set in zsh
|
||||
if [ "$(command -v colcon_zsh_convert_to_array)" ]; then
|
||||
colcon_zsh_convert_to_array _values
|
||||
fi
|
||||
# iterate over existing values in the variable
|
||||
for _item in $_values; do
|
||||
# ignore empty strings
|
||||
if [ -z "$_item" ]; then
|
||||
continue
|
||||
fi
|
||||
# ignore duplicates of _value
|
||||
if [ "$_item" = "$_value" ]; then
|
||||
continue
|
||||
fi
|
||||
# keep non-duplicate values
|
||||
_all_values="$_all_values:$_item"
|
||||
done
|
||||
unset _item
|
||||
# restore the field separator
|
||||
IFS=$_colcon_prepend_unique_value_IFS
|
||||
unset _colcon_prepend_unique_value_IFS
|
||||
# export the updated variable
|
||||
eval export $_listname=\"$_all_values\"
|
||||
unset _all_values
|
||||
unset _values
|
||||
|
||||
unset _value
|
||||
unset _listname
|
||||
}
|
||||
|
||||
# since a plain shell script can't determine its own path when being sourced
|
||||
# either use the provided COLCON_CURRENT_PREFIX
|
||||
# or fall back to the build time prefix (if it exists)
|
||||
_colcon_package_sh_COLCON_CURRENT_PREFIX="/workspace/install/ros_viz_adapter"
|
||||
if [ -z "$COLCON_CURRENT_PREFIX" ]; then
|
||||
if [ ! -d "$_colcon_package_sh_COLCON_CURRENT_PREFIX" ]; then
|
||||
echo "The build time path \"$_colcon_package_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2
|
||||
unset _colcon_package_sh_COLCON_CURRENT_PREFIX
|
||||
return 1
|
||||
fi
|
||||
COLCON_CURRENT_PREFIX="$_colcon_package_sh_COLCON_CURRENT_PREFIX"
|
||||
fi
|
||||
unset _colcon_package_sh_COLCON_CURRENT_PREFIX
|
||||
|
||||
# function to source another script with conditional trace output
|
||||
# first argument: the path of the script
|
||||
# additional arguments: arguments to the script
|
||||
_colcon_package_sh_source_script() {
|
||||
if [ -f "$1" ]; then
|
||||
if [ -n "$COLCON_TRACE" ]; then
|
||||
echo "# . \"$1\""
|
||||
fi
|
||||
. "$@"
|
||||
else
|
||||
echo "not found: \"$1\"" 1>&2
|
||||
fi
|
||||
}
|
||||
|
||||
# source sh hooks
|
||||
_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/ros_viz_adapter/hook/cmake_prefix_path.sh"
|
||||
_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/ros_viz_adapter/local_setup.sh"
|
||||
|
||||
unset _colcon_package_sh_source_script
|
||||
unset COLCON_CURRENT_PREFIX
|
||||
|
||||
# do not unset _colcon_prepend_unique_value since it might be used by non-primary shell hooks
|
||||
|
|
@ -0,0 +1,16 @@
|
|||
<?xml version="1.0"?>
|
||||
<package format="3">
|
||||
<name>ros_viz_adapter</name>
|
||||
<version>0.2.0</version>
|
||||
<description>Rate-limited ROS 2 visualization publishers for images and point clouds.</description>
|
||||
<maintainer email="platform@example.com">Platform Team</maintainer>
|
||||
<license>Apache-2.0</license>
|
||||
<buildtool_depend>ament_cmake</buildtool_depend>
|
||||
<depend>rclcpp</depend>
|
||||
<depend>sensor_msgs</depend>
|
||||
<depend>image_transport</depend>
|
||||
<depend>pluginlib</depend>
|
||||
<exec_depend>compressed_image_transport</exec_depend>
|
||||
<exec_depend>compressed_depth_image_transport</exec_depend>
|
||||
<export><build_type>ament_cmake</build_type></export>
|
||||
</package>
|
||||
|
|
@ -0,0 +1,50 @@
|
|||
# generated from colcon_zsh/shell/template/package.zsh.em
|
||||
|
||||
# This script extends the environment for this package.
|
||||
|
||||
# a zsh script is able to determine its own path if necessary
|
||||
if [ -z "$COLCON_CURRENT_PREFIX" ]; then
|
||||
# the prefix is two levels up from the package specific share directory
|
||||
_colcon_package_zsh_COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)"
|
||||
else
|
||||
_colcon_package_zsh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
|
||||
fi
|
||||
|
||||
# function to source another script with conditional trace output
|
||||
# first argument: the path of the script
|
||||
# additional arguments: arguments to the script
|
||||
_colcon_package_zsh_source_script() {
|
||||
if [ -f "$1" ]; then
|
||||
if [ -n "$COLCON_TRACE" ]; then
|
||||
echo "# . \"$1\""
|
||||
fi
|
||||
. "$@"
|
||||
else
|
||||
echo "not found: \"$1\"" 1>&2
|
||||
fi
|
||||
}
|
||||
|
||||
# function to convert array-like strings into arrays
|
||||
# to workaround SH_WORD_SPLIT not being set
|
||||
colcon_zsh_convert_to_array() {
|
||||
local _listname=$1
|
||||
local _dollar="$"
|
||||
local _split="{="
|
||||
local _to_array="(\"$_dollar$_split$_listname}\")"
|
||||
eval $_listname=$_to_array
|
||||
}
|
||||
|
||||
# source sh script of this package
|
||||
_colcon_package_zsh_source_script "$_colcon_package_zsh_COLCON_CURRENT_PREFIX/share/ros_viz_adapter/package.sh"
|
||||
unset convert_zsh_to_array
|
||||
|
||||
# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced scripts
|
||||
COLCON_CURRENT_PREFIX="$_colcon_package_zsh_COLCON_CURRENT_PREFIX"
|
||||
|
||||
# source zsh hooks
|
||||
_colcon_package_zsh_source_script "$COLCON_CURRENT_PREFIX/share/ros_viz_adapter/local_setup.zsh"
|
||||
|
||||
unset COLCON_CURRENT_PREFIX
|
||||
|
||||
unset _colcon_package_zsh_source_script
|
||||
unset _colcon_package_zsh_COLCON_CURRENT_PREFIX
|
||||
Loading…
Reference in New Issue